CN216842917U - Precise RV reducer for robot - Google Patents

Precise RV reducer for robot Download PDF

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Publication number
CN216842917U
CN216842917U CN202122901587.1U CN202122901587U CN216842917U CN 216842917 U CN216842917 U CN 216842917U CN 202122901587 U CN202122901587 U CN 202122901587U CN 216842917 U CN216842917 U CN 216842917U
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reducer
gear
precision
cycloid wheel
degrees
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Inventor
刘谷华
吴声震
吴小杰
顾辽兵
吴绍松
刘巍巍
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Suzhou Huazhen Industry RV Reducer Co Ltd
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Suzhou Huazhen Industry RV Reducer Co Ltd
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Priority claimed from CN202111001325.8A external-priority patent/CN113586673A/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C3/00—Shafts; Axles; Cranks; Eccentrics
    • F16C3/04—Crankshafts, eccentric-shafts; Cranks, eccentrics
    • F16C3/18—Eccentric-shafts
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/17—Toothed wheels
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/08—General details of gearing of gearings with members having orbital motion
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/323—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising eccentric crankshafts driving or driven by a gearing

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Retarders (AREA)

Abstract

The utility model provides a precision RV reducer for a robot, which comprises the following components: the speed reducer comprises a hypocycloid gear ring, wherein a first-stage speed reducing part and a second-stage speed reducing part are arranged in the hypocycloid gear ring, the first-stage speed reducing part comprises an input shaft, a sun gear and a planet gear, and the second-stage speed reducing part comprises a cycloid wheel, a hypocycloid gear ring and a left rigid discA right rigid disk, a bearing and a plurality of eccentric shafts, wherein the cycloidal gear adopts a negative equidistance-positive displacement combined modification, and the meshing side clearance delta c after modification is 0.000014d0～0.00124d0The radial clearance delta j is 0.000007d0～0.00062d0，d0The average diameter of the addendum circle and the dedendum circle of the cycloidal gear is mm, and the phase difference theta of the two eccentric sections of the eccentric shaft is more than or equal to 179 degrees and less than 179.81 degrees or more than 180.19 degrees and less than or equal to 181 degrees. According to the utility model, the problems of static and dynamic performances of the precision RV reducer are effectively solved, and stable quality, high yield and cost saving are realized.

Description

Precise RV reducer for robot
Technical Field
The utility model relates to a precise RV reducer for a robot, in particular to a precise reducer which solves the dynamic performance defects of precision retentivity and the like by utilizing a cycloidal gear shaping technology.
Background
The transmission technology of the precision speed reducer is a novel transmission technology developed on the basis of the general cycloidal pin wheel transmission technology, the precision speed reducer has the advantages of small size, light weight, wide transmission ratio range, high transmission efficiency and the like, and is widely applied to the civil fields of robots, numerical control machines, semiconductor equipment, precision packaging equipment, welding positioners, plasma cutting, tobacco machinery, printing machinery, textile machinery, medical instruments and the like and the military fields of tracking antennas, missile launcher, satellites, radars and the like.
The most core technology of the precision speed reducer is the shape modification technology of a cycloid wheel. In order to realize precise transmission, the cycloidal gear needs to compensate manufacturing errors, is convenient to assemble and disassemble and ensures lubrication, so that the cycloidal gear cannot adopt a standard tooth form, and meshing side gaps and radial gaps need to be formed between the cycloidal gear teeth and the hypocycloidal gear ring, so that the cycloidal gear needs to be modified in shape. However, the modification of the cycloid wheel can affect the transmission torque, transmission precision, transmission efficiency and the like of the precision speed reducer. At present, most of the precision RV reducers for robots at home and abroad adopt the technology developed by the Japan Nabo Tesch company. The theory and the technical research in China are slow in progress and seriously lagged from zero, and the research has been carried out for more than 30 years, but the technical problem of the shape modification of the cycloid wheel is still not solved, and the problem of poor dynamic performances such as precision retentivity and the like still exists.
Therefore, in practical engineering application, the cycloid wheel does not adopt a standard tooth profile curve as a tooth profile curve, because the cycloid wheel processed according to the standard tooth profile is difficult to assemble, and friction heating in the working process can cause expansion and blocking of the cycloid wheel and the hypocycloid gear ring. And through the modification of the cycloid wheel, a reasonable meshing gap and a radial gap are generated between the cycloid wheel and the hypocycloid gear ring, so that the requirement for good operation of a precise RV reducer is met.
The cycloidal gear shape-modifying mode in the technical field of universal cycloidal pin gear transmission can be dozens of modes, and has various combined shapes such as equidistant shape modification, displacement shape modification, corner shape modification, equidistant-displacement-corner shape modification and the like; the method comprises non-equidistant and non-shifting modification, such as elliptical modification, parabolic modification, pressure angle modification, composite modification, segmented modification, second-order logarithmic modification, exponential modification, tooth thickness modification, tooth height modification and the like, and various combined modifications such as eccentric distance-equidistant-shifting distance, tooth thickness-equidistant-shifting distance, tooth height-equidistant-shifting distance and the like. The cycloidal gear shape-modifying technology in the general cycloidal pin gear transmission technical field is applied to the technical field of precision reducers, and 3 shape-modifying technical schemes of 'positive equidistant-positive displacement', 'positive equidistant-negative displacement', 'negative equidistant-negative displacement' in 'equidistant-displacement' of the cycloidal gear are provided. However, the above 3 modification technical solutions do not completely solve the problems of precision, temperature rise, abrasion, vibration, noise, etc. in the technical field of precision reducers, and the precision reducers still have the problem of poor dynamic performance such as precision retentivity.
The repair mode of 'negative equidistance-negative displacement' is researched by professors of He-Wei-Dong who is connected with the university of transportation, is approved by national theory, and is widely popularized and applied in textbooks and tool books. The shape modification of the cycloid wheel of the precise RV reducer for the robot in domestic business is also carried out by adopting a negative equidistant-negative displacement combined shape modification theory and carrying out a large amount of technical research and practice of equidistant and displacement modification quantity on the basis of the negative equidistant-negative displacement combined shape modification theory. Domestic enterprises have been studied for more than 30 years, but the technology has not been broken through all the time, the product quality has not reached the technical level of Japan Nabo Tesch company all the time, and the problem of poor precision retentivity exists all the time. These problems exist, and the domestic theory and business industry generally consider that domestic materials and heat treatment process can not reach the level of Japan Nabotte Teck company at present.
Therefore, whether the improved precision RV reducer for the robot can be provided based on the defects in the prior art or not is achieved, the problems of static performance and dynamic performance of the precision RV reducer for the robot are effectively solved, stable quality, high yield and cost saving are achieved, and the technical problem to be solved by technical personnel in the field is solved urgently.
SUMMERY OF THE UTILITY MODEL
Problem to be solved by utility model
It is an object of the present invention to overcome the deficiencies of the prior art and to provide an improved precision RV reducer for robots. The inventor of the utility model has proved through more than ten years of theoretical research and practice that it can only solve the static performance problem that is used for the accurate RV reduction gear of robot to discover present internal "burden equidistance-burden displacement" combination modification theory and technique, can not solve the dynamic performance problem, because adopt "burden equidistance-burden displacement" combination modification, though guaranteed the required precision of the accurate RV reduction gear that is used for the robot, but sacrificed meshing side gap and radial clearance, can not satisfy the required space requirement of thermal expansion when the accurate RV reduction gear that is used for the robot does work, so there is the poor problem of dynamic performance. Therefore, the inventor of the utility model provides a combination technical scheme of "negative equidistance-positive displacement combination modification theory + modification amount + anti-backlash principle + phase difference anti-backlash amount", and on the basis of "negative equidistance-positive displacement" combination modification theory and technology, the research of a large amount of equidistance and displacement modification amounts and the research of a large amount of anti-backlash amounts are carried out, and a great breakthrough of theory and technology is obtained.
Means for solving the problems
A first aspect of the present invention is directed to a precision RV reducer for robots,
comprises a hypocycloid gear ring, a first-stage speed reduction part and a second-stage speed reduction part are arranged in the hypocycloid gear ring,
the first-stage speed reducing component comprises an input shaft, a sun wheel and a planet wheel,
the second-stage speed reducing component comprises a cycloid wheel, a left rigid disk, a right rigid disk, a bearing and a plurality of eccentric shafts,
the cycloid wheel comprises a left cycloid wheel and a right cycloid wheel, the cycloid wheel is modified in shape, so that a meshing side gap delta c and a radial gap delta j are formed between the gear teeth of the cycloid wheel and the hypocycloid gear ring,
the cycloidal gear adopts a negative isometric-positive displacement combined modification, and the meshing side clearance delta c after the modification is 0.000014d0～0.00124d0The radial clearance delta j is 0.000007d0～0.00062d0，d0The average diameter of the addendum circle and the dedendum circle of the cycloidal gear is mm, and the phase difference theta of the two eccentric sections of the eccentric shaft is more than or equal to 179 degrees and less than 179.81 degrees or more than 180.19 degrees and less than or equal to 181 degrees.
Preferably, the engagement backlash Δ c is 0.000035d0～0.000992d0。
Preferably, the radial clearance Δ j is 0.000018d0～0.000496d0。
Preferably, when the precision RV reducer works under the rated torque, the temperature rise delta t of the cycloidal gear is 5-45 ℃.
Preferably, when the precision RV reducer works under rated torque, the thermal expansion amount lambda of the cycloidal gear is 0.00007d 0≤λ≤0.00062d0。
A second aspect of the present invention is directed to a precision RV reducer for a robot,
comprises a hypocycloid gear ring, a first-stage speed reduction part and a second-stage speed reduction part are arranged in the hypocycloid gear ring,
the first-stage speed reduction part comprises a driving wheel, a duplicate gear and a planet wheel on the servo motor,
the second-stage speed reduction component comprises a cycloid wheel, a left rigid disk, a right rigid disk, a bearing and a plurality of eccentric shafts,
the cycloid wheel comprises a left cycloid wheel and a right cycloid wheel, the cycloid wheel is modified to form a meshing side clearance delta c and a radial clearance delta j between the gear teeth of the cycloid wheel and the hypocycloid gear ring,
the cycloidal gear adopts the combined modification of negative equidistance-positive displacement, and the meshing backlash delta c after modification is 0.000014d0～0.00124d0The radial clearance delta j is 0.000007d0～0.00062d0，d0Is the average diameter of the tip circle and the root circle of the cycloid wheel and has the unit ofmm, the phase difference theta of the two eccentric sections of the eccentric shaft is more than or equal to 179 degrees and less than 179.81 degrees or more than 180.19 degrees and less than or equal to 181 degrees.
Preferably, the engagement backlash Δ c is 0.000035d0～0.000992d0。
Preferably, the radial clearance Δ j is 0.000018d0～0.000496d0。
Preferably, when the precision RV reducer works under the rated torque, the temperature rise delta t of the cycloidal gear is 5-45 ℃.
Preferably, when the precision RV reducer works under rated torque, the thermal expansion amount lambda of the cycloidal gear is 0.00007d 0≤λ≤0.00062d0。
Effect of the utility model
According to the precise RV reducer for the robot in the first aspect and the second aspect of the utility model, the problems of static and dynamic performances of the precise RV reducer for the robot are effectively solved, and the purposes of stable quality, high yield and cost saving are realized.
Drawings
Fig. 1 is a schematic view of a precision RV reducer for a robot according to a first embodiment of the present invention.
Fig. 2 is a schematic view of a precision RV reducer for a robot according to a second embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, which are merely for convenience of description and simplification of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected unless otherwise explicitly stated or limited. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Fig. 1 is a schematic view of a precision RV reducer for a robot according to a first embodiment of the present invention. This a accurate RV reduction gear for robot is a accurate reduction gear, including hypocycloid ring gear 1, is provided with first order speed reduction part and second level speed reduction part in hypocycloid ring gear 1, and first order speed reduction part includes: input shaft 9, with input shaft 9 one end fixed connection's sun gear 14, and with the 2 or 3 evenly distributed planet wheels 4 of sun gear 14 meshing, second stage reduction parts include: the eccentric shaft 6, the cycloid wheel, the left rigid disk 13, the right rigid disk 12, the bearings, 2 or 3 eccentric shafts 6 are uniformly distributed around the input shaft 9 (in the embodiment, the eccentric shaft 6 is 2 or 3, but not limited to, 4 or more), the shaft extension end of the eccentric shaft 6 is connected with the planet wheel 4, two eccentric sections of the eccentric shaft 6 are provided with first bearings 8 for supporting the cycloid wheel, the shaft extension ends at two sides of the eccentric sections are respectively supported in peripheral holes of the left rigid disk 13 and the right rigid disk 12 by second bearings 7, the left rigid disk 13 and the right rigid disk 12 are respectively supported in two side holes of the hypocycloid gear ring 1 by third bearings 2, the input shaft 9 is supported in central holes of the left rigid disk 13 and the right rigid disk 12 by a fourth bearing 10 or is connected with a driving motor, the other end is connected with the sun wheel 14, the sun wheel 14 is meshed with the planet wheel 4, 2 or 3 flanges are uniformly distributed on the left rigid disk 13, 2 or 3 through holes (in the present embodiment, 2 or 3 through holes are provided for the flange and the through holes, but the number is not limited to these, and 4 or more through holes are provided) are uniformly distributed on the cycloid wheel, and are connected to the right rigid disk 12 by screws and dowel pins to form a rigid body. The cycloidal gear comprises a left cycloidal gear 3 and a right cycloidal gear 5, and the cycloidal gear is modified to form a meshing side gap delta c and a radial gap delta j between the gear teeth of the cycloidal gear and the hypocycloid gear ring 1, and the modification mode is called as 'isometric-displacement' combined modification.
The cycloidal gear adopts a negative isometric-positive displacement combined modification mode, and after the modification, the meshing side clearance delta c between the gear teeth of the cycloidal gear and the hypocycloid gear ring 1 is (0.00014-0.00124) d0(mm), and the radial clearance delta j is (0.000007-0.00062) d0(mm)，d0The average diameter of the addendum circle and the dedendum circle of the cycloid wheel is in mm, and the phase difference theta of the two eccentric sections of the eccentric shaft 6 is more than or equal to 179 degrees and less than 179.81 degrees or more than 180.19 degrees and less than or equal to 181 degrees. By setting the phase difference, the return difference is reduced by utilizing the gear backlash elimination principle.
The meshing backlash Δ c is a working parameter that reflects the meshing working state of the cycloid gear and the hypocycloid gear ring 1, and is an important factor that determines the precision of the speed reducer. However, in the prior art, in order to ensure the precision of the speed reducer, only the combined modification of negative equidistance and negative displacement is adopted, so that the meshing backlash delta c is very small, the thermal expansion space of the cycloid wheel cannot be kept, and the dynamic performance is poor. The radial clearance Δ j is an assembly parameter that reflects the state of the meshing position of the cycloid gear and the hypocycloid ring gear 1, and it is necessary to ensure non-contact property under the thermal expansion condition. However, in the prior art, the radial clearance Δ j is forced to be sacrificed to ensure the accuracy of the reducer. The utility model overcomes the technical prejudices in the prior art, the cycloidal gear adopts the negative isometric-positive displacement combined modification, and the meshing side clearance delta c and the radial clearance delta j between the gear teeth of the cycloidal gear and the hypocycloid gear ring after the modification are far larger than the modification quantity of the negative isometric-negative displacement combined modification, thereby effectively solving the problems of static and dynamic performances of the precise RV reducer for the robot. The radius of the circular arc of the grinding wheel is increased to be negative equidistance and reduced to be positive equidistance; the grinding wheel moves into the center of the workbench by a negative displacement distance, and moves out by a positive displacement distance.
In a preferred embodiment of the first embodiment, the cycloidal gear preferably adopts a "negative equal-distance-positive shiftThe distance between the gear teeth of the cycloidal gear and the hypocycloid gear ring 1 is combined and modified, and the meshing side clearance delta c is (0.000035-0.000992) d0(mm), more preferably Δ c ═ d (0.000049-0.00062)0(mm)，d0Is the average diameter of the addendum circle and the dedendum circle of the cycloidal gear and has the unit of mm.
In a preferred embodiment of the first embodiment, preferably, the cycloid gear is modified by a combination of negative equidistant-positive displacement, and the radial clearance Δ j between the gear teeth of the cycloid gear and the hypocycloidal ring gear 1 is (0.000018-0.000496) d0(mm), more preferably Δ j ═ 0.000025 to 0.00031 d0(mm)，d0Is the average diameter of the addendum circle and the dedendum circle of the cycloidal gear and has the unit of mm.
In a preferred embodiment of the first embodiment, the cycloid wheel is preferably modified by a combination of "negative equidistant-positive displacement", and the phase difference θ between the two eccentric sections of the eccentric shaft 6 is 179.81 ° or 180.19 ° to reduce the backlash by using the principle of gear backlash elimination.
In a preferred embodiment of the first embodiment, when the precision RV reducer performs work at a rated torque, the temperature rise Δ t of the cycloidal gear is preferably 5 to 45 (deg.c). The temperature rise delta t of the cycloid wheel refers to the temperature difference between the cycloid wheel and the hypocycloid gear ring 1. The actual thermal expansion amount can be obtained through actual detection or relative detection of the cycloid wheel.
In a preferred embodiment of the first embodiment, preferably, when the precision RV reducer performs work at rated torque, the thermal expansion amount λ of the cycloid gear is 0.00007d0≤λ≤0.00062d0(mm)。
In the process of transmission operation of the precision speed reducer, besides the necessary operation clearance between the components, the requirements of the thermal expansion amount between the components caused by the factors such as temperature difference and material difference on the space of the components need to be met, and the space required by the thermal expansion amount between the components is larger than the space required by normal operation between the components.
According to the quasi-resonance approximation theory of the solid physics introduction (Kittall. C.M., Beijing: science publishers, 1979), the mechanism of thermal expansion is that a solid is composed of tiny crystals, the crystals are formed by arranging atoms at certain positions in space, the atoms have potential energy and kinetic energy, when the atoms are in balance, the sum of the kinetic energy and the potential energy is minimum, the kinetic energy of the atoms is increased along with the increase of temperature, so that the displacement among the atoms is increased, the potential energy is increased, the macroscopic expression is the occurrence of thermal expansion, and the thermal expansion can be regarded as that the object is subjected to uniform outward expansion force. According to the regulations of national standard GB/T36491 and 2018 of general technical conditions of cycloidal pin gear planetary gear transmission devices for robots, the highest temperature of a speed reducer shell is not more than 60 ℃, and the using environmental conditions are-10-40 ℃. The specific numerical value of the temperature rise of the cycloid wheel can be obtained by measuring the temperature difference between the reducer shell and the cycloid wheel, and can also be taken to be 5-45 ℃ according to experience.
The actual structure of the cycloid wheel is a porous disc-shaped structure, which is different from the solid round bar-shaped structure of a theoretical actual measurement sample, so that the actual thermal expansion amount of the cycloid wheel is lower than the theoretical thermal expansion amount of a bearing steel material. In order to obtain the correct meshing backlash Δ c and radial clearance Δ j, the actual thermal expansion amount or thermal expansion coefficient and temperature rise data of the cycloid wheel can be measured by the means of the prior art, the actual thermal expansion amount or the thermal expansion coefficient and the temperature rise data are compared with the theoretical thermal expansion data, and the actual thermal expansion amount λ and the required parameters of the meshing backlash Δ c and the radial clearance Δ j are obtained by multiplying the thermal expansion amount by a certain coefficient for adjustment. The thermal expansion amount, the thermal expansion coefficient, the temperature, and the coefficient multiplied by the thermal expansion amount are not limited to those described in the specification, and may be appropriately adjusted according to the actual situation. Although the thermal expansion, the thermal expansion coefficient, the temperature and the multiplied coefficient are different from the parameters corresponding to the patent, the values of the final engagement backlash Δ c and the radial clearance Δ j are within the scope of the claims of the present invention and are included in the protection scope of the present invention.
To describe in detail the operation of the reducer under the combined modification of "negative equidistance-positive displacement" with different meshing backlash Δ c, radial backlash Δ j, and phase difference θ, the following reducer manufactured according to the first embodiment is taken as an example, and specific detection data are listed as follows:
Figure DEST_PATH_GDA0003620353240000091
As can be seen from the above table, it is more visually shown from the viewpoint of actual detection that the reduction gear manufactured according to the first embodiment meets the national standards.
Fig. 2 is a schematic view of a precision RV reducer for a robot according to a second embodiment of the present invention. This a accurate RV reduction gear for robot is an accurate reduction gear, including hypocycloid ring gear 101, is provided with first order speed reduction part and second level speed reduction part in hypocycloid ring gear 101, and first order speed reduction part includes: a driving wheel 1301, a duplicate gear 801 and 2 or 3 planetary wheels 1201 uniformly distributed on the servo motor, wherein the duplicate gear 801 comprises a driven wheel 601 and a sun wheel 701, the driven wheel 601 is engaged with the driving wheel 1301, the sun wheel 701 is engaged with the planetary wheels 1201, the planetary wheels 1201 are connected to the shaft extension end of an eccentric shaft 1101 in a second-stage speed reduction part, a through pipe is arranged in an inner hole of a duplicate gear 8, two sides of the duplicate gear 801 are respectively supported on the right rigid disc 501 and the corresponding position of the robot body through a first bearing 1001 and a second bearing 901, and the second-stage speed reduction part comprises: the eccentric shaft 1101, the cycloid wheel, the left rigid disk 1601, the right rigid disk 501, and 2 or 3 eccentric shafts 1101 are uniformly distributed around the center holes of the left rigid disk 1601 and the right rigid disk 501 (the eccentric shaft 1101 is 2 or 3 in the present embodiment, but is not limited thereto, and may be 4 or more), third bearings 1401 for supporting the cycloid wheel are provided on two eccentric sections of the eccentric shaft 1101, shaft extensions on both sides of the eccentric sections are supported by the fourth bearings 1501 in the peripheral holes of the left rigid disk 1601 and the right rigid disk 501, respectively, the left rigid disk 1601 and the right rigid disk 501 are supported by the fifth bearings 201 in the inner holes on both sides of the hypocycloid ring gear 101, 2 or 3 flanges uniformly distributed on the left rigid disk 1601 pass through corresponding through holes on the cycloid wheel to connect the right rigid disk 501 with dowel pins by screws to form a rigid body (the flanges and the through holes are 2 or 3 in the present embodiment, but is not limited thereto and may be 4 or more). The cycloidal gear comprises a left cycloidal gear 301 and a right cycloidal gear 401, and the shape modification is carried out by adopting the combination of 'equal distance-displacement', so that a meshing side gap delta c and a radial gap delta j are formed between the gear teeth of the cycloidal gear and the hypocycloid gear ring 101.
The cycloidal gear adopts a negative isometric-positive displacement combined modification mode, and after the modification, the meshing side clearance delta c between the gear teeth of the cycloidal gear and the hypocycloid gear ring 101 is (0.000014-0.00124) d0(mm), and the radial clearance delta j is (0.000007-0.00062) d0(mm)，d0The average diameter of the addendum circle and the dedendum circle of the cycloidal gear is mm, the phase difference theta of two eccentric sections of the eccentric shaft 1101 is more than or equal to 179 degrees and less than 179.81 degrees or more than 180.19 degrees and less than or equal to 181 degrees, namely, the backlash is reduced by utilizing the gear backlash elimination principle.
The meshing backlash Δ c is a working parameter that reflects the meshing operating state of the cycloid wheel and the hypocycloid ring gear 101, and is an important factor that determines the precision of the speed reducer. However, in the prior art, in order to ensure the precision of the speed reducer, only the combined modification of negative equidistance and negative displacement is adopted, so that the meshing backlash delta c is very small, the thermal expansion space of the cycloid wheel cannot be kept, and the dynamic performance is poor. The radial clearance Δ j is an assembly parameter reflecting the state of the meshing position of the cycloid wheel and the hypocycloid ring gear 101, and it is necessary to ensure non-contact property under the thermal expansion condition. In the prior art, however, the radial clearance Δ j is forced to be sacrificed to ensure the accuracy of the reducer. The utility model overcomes the technical prejudices of the prior art, the cycloidal gear adopts the negative equidistance-positive displacement combined modification, and the meshing side clearance delta c and the radial clearance delta j between the gear teeth of the cycloidal gear and the hypocycloid gear ring after the modification are far larger than the modification quantity of the negative equidistance-negative displacement, thereby effectively solving the problems of static and dynamic performances of the precision RV reducer for the robot.
In a preferred embodiment of the second embodiment, preferably, the cycloid wheel is modified by a combination of negative equidistant-positive displacement, and the meshing backlash Δ c between the teeth of the cycloid wheel and the hypocycloid ring gear 101 is (0.000035-0.000992) d0(mm), more preferably Δ c ═ d (0.000049-0.00062)0(mm)，d0Is the average diameter of the addendum circle and the dedendum circle of the cycloidal gear and has the unit of mm.
In a preferred embodiment of the second embodiment, the cycloidal gear is preferably modified by a combination of negative equal distance and positive displacement, and the gear teeth and the inner cycloidal gear of the cycloidal gearThe radial gap Δ j between the ring gears 101 is (0.000018-0.000496) d0(mm), more preferably Δ j ═ 0.000025 to 0.00031 d0(mm)，d0Is the average diameter of the addendum circle and the dedendum circle of the cycloidal gear and has the unit of mm.
In a preferred embodiment of the second embodiment, it is preferable that the cycloidal gear is modified by a combination of "negative equidistant-positive displacement", and the phase difference θ between the two eccentric sections of the eccentric shaft 1101 is 179.81 ° or 180.19 ° to reduce the return difference by using the principle of gear backlash elimination.
In a preferred embodiment of the second embodiment, preferably, when the precision RV reducer performs work at a rated torque, the temperature rise Δ t of the cycloidal gear is 5 to 45(° c). The temperature rise Δ t of the cycloid gear refers to the difference in temperature between the cycloid gear and the hypocycloidal ring gear 101. The actual thermal expansion amount can be obtained through actual detection or relative detection of the cycloid wheel. When the actual thermal expansion amount is difficult to accurately detect, the theoretical thermal expansion amount can be used to replace the actual thermal expansion amount.
In a preferred embodiment of the second embodiment, when the precision RV reducer performs work at rated torque, the coefficient of thermal expansion α of the bearing steel of the cycloid gear is preferably 1.379-10-5(1/DEG C), the temperature rise delta t of the cycloidal gear, and the average diameter of the addendum circle and the dedendum circle of the cycloidal gear is d0The theoretical thermal expansion amount of time is calculated as λ ═ α · Δ t · d0(mm)。
In a preferred embodiment of the second embodiment, preferably, when the precision RV reducer performs work at rated torque, the thermal expansion amount λ of the cycloid gear is 0.00007d0≤λ≤0.00062d0。
Compared with the prior art, the precision RV reducer for the robot adopting the first embodiment and the second embodiment effectively solves the problems of static and dynamic performances of the precision RV reducer for the robot, and realizes stable quality, high yield and cost saving.
Specifically, the following advantageous effects are obtained:
(1) the combined modification of negative equidistance-positive displacement adopted by the utility model approaches to a conjugate tooth form, has enough meshing tooth number, reasonable meshing side clearance delta c and radial clearance delta j, and has the advantages of large bearing capacity, stable transmission, low noise and small vibration.
(2) The utility model adopts the combined modification of negative equidistance-positive displacement to generate the meshing side clearance delta c and the radial clearance delta j, and the average diameter d of the addendum circle and the dedendum circle of the cycloidal gear 0The thermal expansion coefficient is closely related to the thermal expansion coefficient lambda, so that the dynamic performance is good, the temperature rise is low when the device operates and works under rated load, the abrasion is small, and the device is easy to assemble.
(3) The negative equidistance-positive displacement combined modification is adopted, and the backlash is reduced by utilizing the gear backlash elimination principle, so that the high precision of the precision RV reducer is realized.
(4) The utility model adopts the combined modification of negative equidistance-positive displacement, and has simple grinding process and low manufacturing cost.
Industrial applicability
According to the precision RV reducer for the robot and the method for manufacturing the precision RV reducer for the robot, the problems of static performance and dynamic performance of the precision RV reducer for the robot are effectively solved, and stable quality, high yield and cost saving are realized.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims (10)

1. A precise RV reducer for a robot is characterized in that,
comprises a hypocycloid gear ring, a first-stage speed reduction part and a second-stage speed reduction part are arranged in the hypocycloid gear ring,
the first-stage speed reducing component comprises an input shaft, a sun wheel and a planet wheel,
the second-stage speed reducing component comprises a cycloid wheel, a left rigid disk, a right rigid disk, a bearing and a plurality of eccentric shafts,
the cycloid wheel comprises a left cycloid wheel and a right cycloid wheel, the cycloid wheel is modified to form a meshing side clearance delta c and a radial clearance delta j between the gear teeth of the cycloid wheel and the hypocycloid gear ring,
the cycloidal gear adopts a negative isometric-positive displacement combined modification, and the meshing side clearance delta c after the modification is 0.000014d0～0.00124d0The radial clearance delta j is 0.000007d0～0.00062d0，d0The average diameter of the addendum circle and the dedendum circle of the cycloidal gear is mm, and the phase difference theta of the two eccentric sections of the eccentric shaft is more than or equal to 179 degrees and less than 179.81 degrees or more than 180.19 degrees and less than or equal to 181 degrees.
2. The precision RV reducer for a robot according to claim 1,
the engagement backlash Δ c is 0.000035d0～0.000992d0。
3. The precision RV reducer for a robot according to claim 1 or 2,
the radial clearance delta j is 0.000018d0～0.000496d0。
4. The precision RV reducer for a robot according to claim 1 or 2,
When the precise RV reducer works under the rated torque, the temperature rise delta t of the cycloid wheel is 5-45 ℃.
5. The precision RV reducer for a robot according to claim 1 or 2 characterized in that,
when the precise RV reducer works under rated torque, the thermal expansion amount lambda of the cycloid gear is 0.00007d0≤λ≤0.00062d0。
6. A precise RV reducer for a robot is characterized in that,
comprises a hypocycloid gear ring, a first-stage speed reduction part and a second-stage speed reduction part are arranged in the hypocycloid gear ring,
the first-stage speed reducing part comprises a driving wheel, a duplicate gear and a planet gear on the servo motor,
the second-stage speed reducing component comprises a cycloid wheel, a left rigid disk, a right rigid disk, a bearing and a plurality of eccentric shafts,
the cycloid wheel comprises a left cycloid wheel and a right cycloid wheel, the cycloid wheel is modified in shape, so that a meshing side gap delta c and a radial gap delta j are formed between the gear teeth of the cycloid wheel and the hypocycloid gear ring,
the cycloidal gear adopts the combined modification of negative equidistance-positive displacement, and the meshing backlash delta c after modification is 0.000014d0～0.00124d0The radial clearance delta j is 0.000007d0～0.00062d0，d0The average diameter of the addendum circle and the dedendum circle of the cycloidal gear is mm, and the phase difference theta of the two eccentric sections of the eccentric shaft is more than or equal to 179 degrees and less than 179.81 degrees or more than 180.19 degrees and less than or equal to 181 degrees.
7. The precision RV reducer for a robot according to claim 6,
the meshing backlash delta c is 0.000035d0～0.000992d0。
8. The precision RV reducer for a robot according to claim 6 or 7,
the radial clearance delta j is 0.000018d0～0.000496d0。
9. The precision RV reducer for a robot according to claim 6 or 7,
when the precision RV reducer works under rated torque, the temperature rise delta t of the cycloid wheel is 5-45 ℃.
10. The precision RV reducer for a robot according to claim 6 or 7,
when the precision RV reducer does work under rated torque, the thermal expansion amount lambda of the cycloid wheel is 0.00007d0≤λ≤0.00062d0。
CN202122901587.1U 2021-08-30 2021-11-24 Precise RV reducer for robot Active CN216842917U (en)

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CN202122068171 2021-08-30
CN2021110081310 2021-08-30
CN202111001325.8A CN113586673A (en) 2021-08-30 2021-08-30 Precise internal-gearing RV reducer
CN202122057860 2021-08-30

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